[hal, wpilib] Add brownout voltage configuration (#3632)

wpilibc/src/main/native/cpp/RobotController.cpp

@@ -159,6 +159,19 @@ int RobotController::GetFaultCount6V() {
   return retVal;
 }
 
+units::volt_t RobotController::GetBrownoutVoltage() {
+  int32_t status = 0;
+  double retVal = HAL_GetBrownoutVoltage(&status);
+  FRC_CheckErrorStatus(status, "{}", "GetBrownoutVoltage");
+  return units::volt_t(retVal);
+}
+
+void RobotController::SetBrownoutVoltage(units::volt_t brownoutVoltage) {
+  int32_t status = 0;
+  HAL_SetBrownoutVoltage(brownoutVoltage.to<double>(), &status);
+  FRC_CheckErrorStatus(status, "{}", "SetBrownoutVoltage");
+}
+
 CANStatus RobotController::GetCANStatus() {
   int32_t status = 0;
   float percentBusUtilization = 0;

wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp

@@ -267,6 +267,23 @@ void RoboRioSim::SetUserFaults3V3(int userFaults3V3) {
   HALSIM_SetRoboRioUserFaults3V3(userFaults3V3);
 }
 
+std::unique_ptr<CallbackStore> RoboRioSim::RegisterBrownoutVoltageCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      -1, callback, &HALSIM_CancelRoboRioBrownoutVoltageCallback);
+  store->SetUid(HALSIM_RegisterRoboRioBrownoutVoltageCallback(
+      &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+units::volt_t RoboRioSim::GetBrownoutVoltage() {
+  return units::volt_t(HALSIM_GetRoboRioBrownoutVoltage());
+}
+
+void RoboRioSim::SetBrownoutVoltage(units::volt_t vInVoltage) {
+  HALSIM_SetRoboRioBrownoutVoltage(vInVoltage.to<double>());
+}
+
 void RoboRioSim::ResetData() {
   HALSIM_ResetRoboRioData();
 }

wpilibc/src/main/native/include/frc/RobotController.h

@@ -188,6 +188,28 @@ class RobotController {
    */
   static int GetFaultCount6V();
 
+  /**
+   * Get the current brownout voltage seting.
+   *
+   * @return The brownout voltage
+   */
+  static units::volt_t GetBrownoutVoltage();
+
+  /**
+   * Set the voltage the roborio will brownout and disable all outputs.
+   *
+   * Note that this only does anything on the roboRIO 2.
+   * On the roboRIO it is a no-op.
+   *
+   * @param brownoutVoltage The brownout voltage
+   */
+  static void SetBrownoutVoltage(units::volt_t brownoutVoltage);
+
+  /**
+   * Get the current status of the CAN bus.
+   *
+   * @return The status of the CAN bus
+   */
   static CANStatus GetCANStatus();
 };
 

wpilibc/src/main/native/include/frc/simulation/RoboRioSim.h

@@ -394,6 +394,30 @@ class RoboRioSim {
    */
   static void SetUserFaults3V3(int userFaults3V3);
 
+  /**
+   * Register a callback to be run whenever the brownout voltage changes.
+   *
+   * @param callback the callback
+   * @param initialNotify whether to call the callback with the initial state
+   * @return the CallbackStore object associated with this callback
+   */
+  [[nodiscard]] static std::unique_ptr<CallbackStore>
+  RegisterBrownoutVoltageCallback(NotifyCallback callback, bool initialNotify);
+
+  /**
+   * Measure the brownout voltage.
+   *
+   * @return the brownout voltage
+   */
+  static units::volt_t GetBrownoutVoltage();
+
+  /**
+   * Define the brownout voltage.
+   *
+   * @param vInVoltage the new voltage
+   */
+  static void SetBrownoutVoltage(units::volt_t brownoutVoltage);
+
   /**
    * Reset all simulation data.
    */